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    <title>h_cl</title>
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    <center>Scilab Function</center>
    <div align="right">Last update : April 1993</div>
    <p>
      <b>h_cl</b> -  closed loop matrix</p>
    <h3>
      <font color="blue">Calling Sequence</font>
    </h3>
    <dl>
      <dd>
        <tt>[Acl]=h_cl(P,r,K)  </tt>
      </dd>
      <dd>
        <tt>[Acl]=h_cl(P22,K)  </tt>
      </dd>
    </dl>
    <h3>
      <font color="blue">Parameters</font>
    </h3>
    <ul>
      <li>
        <tt>
          <b>P, P22</b>
        </tt>: linear system (<tt>
          <b>syslin</b>
        </tt> list), augmented plant or nominal plant respectively</li>
      <li>
        <tt>
          <b>r</b>
        </tt>: 1x2 row vector, dimensions of 2,2 part of <tt>
          <b>P</b>
        </tt> (<tt>
          <b>r=[rows,cols]=size(P22)</b>
        </tt>)</li>
      <li>
        <tt>
          <b>K</b>
        </tt>: linear system (<tt>
          <b>syslin</b>
        </tt> list), controller</li>
      <li>
        <tt>
          <b>Acl</b>
        </tt>: real square matrix</li>
    </ul>
    <h3>
      <font color="blue">Description</font>
    </h3>
    <p>
    Given the standard plant <tt>
        <b>P</b>
      </tt> (with <tt>
        <b>r=size(P22)</b>
      </tt>) and the controller
    <tt>
        <b>K</b>
      </tt>, this function returns the closed loop matrix <tt>
        <b>Acl</b>
      </tt>.</p>
    <p>
    The poles of <tt>
        <b>Acl</b>
      </tt> must be stable for the internal stability 
    of the closed loop system.</p>
    <p>
      <tt>
        <b>Acl</b>
      </tt> is the <tt>
        <b>A</b>
      </tt>-matrix of the linear system <tt>
        <b>[I -P22;-K I]^-1</b>
      </tt> i.e.
    the <tt>
        <b>A</b>
      </tt>-matrix of <tt>
        <b>lft(P,r,K)</b>
      </tt>
    </p>
    <h3>
      <font color="blue">See Also</font>
    </h3>
    <p>
      <a href="lft.htm">
        <tt>
          <b>lft</b>
        </tt>
      </a>,&nbsp;&nbsp;</p>
    <h3>
      <font color="blue">Author</font>
    </h3>
    <p>F. D.  </p>
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